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检索条件"机构=Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering"

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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A multiple Lyapunov function approach for robust H∞ observer-based tracking control of uncertain T-S fuzzy systems

A multiple Lyapunov function approach for robust H∞ observe...

引用

International Conference on Control, Instrumentation, and Automation

作者： M. H. Asemani V. J. Majd S. Mobayen Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran

In this paper, the problem of robust H ∞ fuzzy observer-based tracking control for the uncertain T-S fuzzy systems with external disturbances is addressed. The robust stability synthesis is based on the descriptor redundancy approach. Linear matrix inequalities (LMIs) are proposed for the design of the observer-based controller. Less conservative design conditions are obtained using a multiple Lyapunov function approach. It is assumed that the derivatives of the grades of the fuzzy membership functions exist and have lower bounds. This assumption is not restrictive in many T-S fuzzy models. Unlike the previous design method for robust H ∞ fuzzy observer-based tracking controller which needs four prescribed scalar variables, the proposed method in this paper gives strict linear matrix inequalities. Moreover, in order to cover a more general problem, it is assumed that there exist uncertainties in local system, input and output matrices simultaneously for the uncertain T-S fuzzy system. A numerical example is used to show the effectiveness of the proposed method.

关键词： Argon Lyapunov methods Fuzzy systems Robustness Design methodology Redundancy Uncertainty

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A Finite-Time Tracker for Nonholonomic systems Using Recursive Singularity-Free FTSM

A Finite-Time Tracker for Nonholonomic Systems Using Recursi...

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2011 American Control Conference (ACC)

作者： Saleh Mobayen Mohammad Javad Yazdanpanah Vahid Johari Majd Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Control & Intelligent Processing Center of Excellence School of Electrical & Computer Engineering University of Tehran Iran

A novel recursive singularity free FTSM (Fast Terminal Sliding Mode) strategy for finite time tracking control of nonholonomic systems is proposed. As a result, the singularity problem around the origin resulting from the fractional power of conventional terminal sliding mode is resolved. Simulation results are given for two benchmark examples of extended chained-form nonholonomic systems: a wheeled mobile robot and an underactuated surface vessel. The results show the effectiveness of the proposed strategy.

关键词： Mobile robots Trajectory Mathematical model Equations Convergence Tracking

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

引用

4th International Conference on Interaction Sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on Control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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Selection of nonlinear function in integral sliding mode-based composite nonlinear feedback method for transient improvement of uncertain linear systems

Selection of nonlinear function in integral sliding mode-bas...

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International Conference on Control, Instrumentation, and Automation

作者： Saleh Mobayen Vahid J. Majd Mohammad Hassan Asemani Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Lab. Tarbiat Modares University Tehran Iran

The objective of this paper is to combine the composite nonlinear feedback and integral sliding mode strategies for fast and accurate robust tracking of a class of linear systems subject to uncertainties. In fact, the theory of integral sliding mode-based composite nonlinear feedback method is presented such that the resulting controlled output would track a target reference as fast as possible with small overshoot and without any steady state bias. The proposed control method retains the actual structure of composite nonlinear feedback controller in following the reference trajectory within a given accuracy and the invariance property of integral sliding mode method in rejecting disturbances and at the same time preserves the stability of the whole system. Also, a collection of nonlinear functions in different forms are studied to improve the reference tracking performance of the system. Simulation results show that the control law designed by this approach yields excellent performance.

关键词： Closed loop systems Robustness Feedback control Frequency modulation Target tracking Eigenvalues and eigenfunctions Linear systems

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Histogram based frontier exploration

Histogram based frontier exploration

引用

2011 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Amir Mobarhani Shaghayegh Nazari Amir H. Tamjidi Hamid D. Taghirad Advanced Robotics and Automated Systems Laboratory (ARAS) Electrical and Computer Engineering Department K. N. Toosi University of Technology Iran

This paper proposes a method for mobile robot exploration based on the idea of frontier exploration which suggests navigating the robot toward the boundaries between free and unknown areas in the map. A global occupancy grid map of the environment is constantly updated, based on which a global frontier map is calculated. Then, a histogram based approach is adopted to cluster frontier cells and score these clusters based on their distance from the robot as well as the number of frontier cells they contain. In each stage of the algorithm, a sub-goal is set for the robot to navigate. A combination of distance transform and A* search algorithms is utilized to generate a plausible path toward the sub-goal through the free space. This way keeping a reliable distance from obstacles is guaranteed while searching for the shortest path toward the sub-goal. When such a path is generated, a B-spline interpolated and smoothed trajectory is produced as the control reference for the mobile robot to follow. The whole process is iterated until no unexplored area remains in the map. The efficiency of the method is shown through simulated and real experiments.

关键词： Robots Image resolution Navigation Reliability Tracking

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Guest editorial introduction to the special issue on citizen centered e-health systems in a global healthcare environment: Selected papers from ITAB 2009

Guest editorial introduction to the special issue on citizen...

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作者： Pattichis, Constantinos S. Schizas, Christos N. Kyriakou, Efthyvoulos C. Fotiadis, Dimitris I. Pattichis, Marios S. Bamidis, Panagiotis D. Department of Computer Science University of Cyprus 1678 Nicosia Cyprus Department of Computer Science and Engineering Frederick University Lemesos 3080 Cyprus Unit of Medical Technology and Intelligent Information Systems Department of Materials Science and Engineering University of Ioannina 45110 Ioannina Greece Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 United States Laboratory of Medical Informatics Medical School Aristotle University of Thessaloniki Thessaloniki 54636 Greece

The January 2011 Special Issue of IEEE Transactions on Information Technology in Biomedicine includes selected papers from Information Technology in Biomedicine (ITAB 2009), held in the month of October in Cyprus. The overall objective of ITAB 2009 was to cover the state of the art in Information Technology Applications in Biomedicine, under the theme 'Citizen centered e-health systems in a global healthcare environment'. The Issue contains paper by Karagiannis and colleagues that investigates the performance of empirical mode decomposition (EMD) on ECGs. The paper by Stylianides introduces a novel, open source middleware framework for communication with medical devices and an application using the middleware named intensive care window (ICW). Cunningham and colleagues propose a home-based tool designed to monitor and assess peripheral motor symptoms. Loizou and colleagues introduce the use of multiscale AM FM texture analysis of multiple sclerosis (MS) using MR images from the brain.

关键词： Middleware

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Computational Intelligence for Control of Wind Turbine Generators

Computational Intelligence for Control of Wind Turbine Gener...

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IEEE Power and Energy Society General Meeting

作者： Wei Qiao Jiaqi Liang Ganesh K. Venayagamoorthy Ronald Harley Department of Electrical Engineering University of Nebraska-Lincoln School of Electrical and Computer Engineering Georgia Institute of Technology Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology

ISBN: (纸本)9781457710001

This paper summarizes past and ongoing research in the area of the application of computational intelligence (CI) for control of wind turbine generators (WTGs). Several intelligent design approaches and control strategies, including optimal design of WTG controllers using particle swarm optimization (PSO) and mean-variance optimization (MVO) algorithms and adaptive critic design-based coordinated optimal adaptive control for wind plants and shunt FACTS devices, are presented for dynamic performance and fault ride-through enhancement of WTGs and the associated power grid. The effectiveness of these intelligent design approaches and control strategies are demonstrated by nonreal- and real-time simulations in PSCAD/EMTDC and RSCAD/RTDS, respectively.

关键词： Computational intelligence (CI) Doubly fed induction generator (DFIG) Dual heuristic programming (DHP) FACTS device Heuristic dynamic programming (HDP) Particle swarm optimization (PSO) Radial basis function neural network (RBFNN) Wind turbine Wind Generators Artificial Intelligence Computational intelligence Wind Energy Conversion systems Standing Orders intelligent Design design approach dynamic characteristics shunt Optimal design

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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International Conference on Information Sciences and Interaction Sciences (ICIS)

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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